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Package Summary
SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Author: Jonathan Bohren
- License: BSD
- Repository: ros-pkg
- Source: hg https://kforge.ros.org/smach/executive_smach
Package Summary
SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: executive_smach-1.0)
Package Summary
SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: fuerte-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: groovy-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Jonathan Bohren
- License: BSD
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer status: maintained
- Maintainer: Isaac I. Y. Saito <gm130s AT gmail DOT com>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: indigo-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer status: maintained
- Maintainer: Isaac I. Y. Saito <gm130s AT gmail DOT com>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: indigo-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer status: maintained
- Maintainer: Isaac I. Y. Saito <gm130s AT gmail DOT com>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: indigo-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer status: maintained
- Maintainer: Isaac I. Y. Saito <gm130s AT gmail DOT com>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: indigo-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer status: maintained
- Maintainer: Isaac I. Y. Saito <gm130s AT gmail DOT com>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: indigo-devel)
Package Summary
SMACH is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.
- Maintainer status: maintained
- Maintainer: Isaac I. Y. Saito <gm130s AT gmail DOT com>
- Author: Jonathan Bohren
- License: BSD
- Source: git https://github.com/ros/executive_smach.git (branch: noetic-devel)
关于 SMACH
什么时候我需要使用SMACH？
当你希望机器人执行一些复杂的计划时，SMACH是有用的，其中所有可能的状态和状态转换都可以被明确地描述。这基本上是将不同模块组合成为一个系统，就像操作移动机器人一样这么有趣。
- 基于快速原型： 基于Python的SMACH语法很明确，简便快捷的制造一个原型状态机并运行它。
复杂的状态机： SMACH允许你设计、维护和调试大型、复杂的层次状态机。你可以在这里找到一个复杂的层次状态机例子。
内省： SMACH让你充分内省状态机、状态转换和数据流等。查看smach_viewer获得更多细节。
什么时候我不需要使用SMACH？
- 非结构化的任务： 对于你的非结构化任务，SMACH将调度不足。
低级系统: 对于要求高效率的低级系统，SMACH并不意味着可以作为一个状态机使用，SMACH是一个任务级体系。
Smash: 当你想要使用smash的时候，不要使用SMACH，这时候使用smash.
SMACH仅仅是一个有限状态机库？
你可以使用SMACH建立一个有限状态机，但SMACH能做的更多。SMACH是一个任务级的执行和协调库，并提供集中“状态容器”。一个这样的容器是一个有限状态机，但是这个容器也可以是另一个容器中的状态。对于SMACH中的容器列表和状态，查看教程页面。
文档
文档界面提供了一个使用SMACH的章节概述。
教程界面包含了一组广泛的教程帮助你提升速度去创建和运行你自己的状态机。